Added portASSERT_IF_INTERRUPT_PRIORITY_INVALID() implementation to Cortex-M3 and Cortex-M4F ports.

git-svn-id: http://svn.code.sf.net/p/freertos/code/trunk@1965 1d2547de-c912-0410-9cb9-b8ca96c0e9e2

12 files changed, 728 insertions, 0 deletions

diff --git a/FreeRTOS/Source/portable/GCC/ARM_CM3/port.c b/FreeRTOS/Source/portable/GCC/ARM_CM3/port.c
index e9acf2eaa..a3d652f12 100644
--- a/FreeRTOS/Source/portable/GCC/ARM_CM3/port.c
+++ b/FreeRTOS/Source/portable/GCC/ARM_CM3/port.c
@@ -107,6 +107,12 @@ FreeRTOS.org versions prior to V4.4.0 did not include this definition. */
 #define portNVIC_PENDSV_PRI					( ( ( unsigned long ) configKERNEL_INTERRUPT_PRIORITY ) << 16UL )

 #define portNVIC_SYSTICK_PRI				( ( ( unsigned long ) configKERNEL_INTERRUPT_PRIORITY ) << 24UL )

 

+/* Constants required to check the validity of an interrupt prority. */

+#define portFIRST_USER_INTERRUPT_NUMBER		( 16 )

+#define portNVIC_IP_REGISTERS_OFFSET_16 	( 0xE000E3F0 )

+#define portAIRCR_REG						( * ( ( volatile unsigned long * ) 0xE000ED0C ) )

+#define portPRIORITY_GROUP_MASK				( 0x07UL << 8UL )

+

 /* Constants required to set up the initial stack. */

 #define portINITIAL_XPSR					( 0x01000000 )

 

@@ -166,6 +172,16 @@ static void prvPortStartFirstTask( void ) __attribute__ (( naked ));
 	static unsigned long ulStoppedTimerCompensation = 0;

 #endif /* configUSE_TICKLESS_IDLE */

 

+/*

+ * Used by the portASSERT_IF_INTERRUPT_PRIORITY_INVALID() macro to ensure 

+ * FreeRTOS API functions are not called from interrupts that have been assigned

+ * a priority above configMAX_SYSCALL_INTERRUPT_PRIORITY.

+ */

+#if ( configASSERT_DEFINED == 1 )

+	 static unsigned char ucMaxSysCallPriority = 0;

+	 static const volatile unsigned char * const pcInterruptPriorityRegisters = ( const volatile unsigned char * const ) portNVIC_IP_REGISTERS_OFFSET_16;

+#endif /* configASSERT_DEFINED */

+

 /*-----------------------------------------------------------*/

 

 /*

@@ -231,6 +247,33 @@ portBASE_TYPE xPortStartScheduler( void )
 	See http://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html */

 	configASSERT( configMAX_SYSCALL_INTERRUPT_PRIORITY );

 

+	#if( configASSERT_DEFINED == 1 )

+	{

+		volatile unsigned long ulOriginalPriority;

+		volatile char * const pcFirstUserPriorityRegister = ( volatile char * const ) ( portNVIC_IP_REGISTERS_OFFSET_16 + portFIRST_USER_INTERRUPT_NUMBER );

+

+		/* Determine the maximum priority from which ISR safe FreeRTOS API

+		functions can be called.  ISR safe functions are those that end in

+		"FromISR".  FreeRTOS maintains separate thread and ISR API functions to

+		ensure interrupt entry is as fast and simple as possible.

+

+		Save the interrupt priority value that is about to be clobbered. */

+		ulOriginalPriority = *pcFirstUserPriorityRegister;

+

+		/* Write the configMAX_SYSCALL_INTERRUPT_PRIORITY value to an interrupt

+		priority register. */

+		*pcFirstUserPriorityRegister = configMAX_SYSCALL_INTERRUPT_PRIORITY;

+

+		/* Read back the written priority to obtain its value as seen by the

+		hardware, which will only implement a subset of the priority bits. */

+		ucMaxSysCallPriority = *pcFirstUserPriorityRegister;

+

+		/* Restore the clobbered interrupt priority register to its original

+		value. */

+		*pcFirstUserPriorityRegister = ulOriginalPriority;

+	}

+	#endif /* conifgASSERT_DEFINED */

+

 	/* Make PendSV and SysTick the lowest priority interrupts. */

 	portNVIC_SYSPRI2_REG |= portNVIC_PENDSV_PRI;

 	portNVIC_SYSPRI2_REG |= portNVIC_SYSTICK_PRI;

@@ -524,3 +567,80 @@ __attribute__(( weak )) void vPortSetupTimerInterrupt( void )
 }

 /*-----------------------------------------------------------*/

 

+#if( configASSERT_DEFINED == 1 )

+

+	void vPortValidateInterruptPriority( void )

+	{

+	unsigned long ulCurrentInterrupt;

+	unsigned char ucCurrentPriority;

+

+		/* Obtain the number of the currently executing interrupt. */

+		__asm volatile( "mrs %0, ipsr" : "=r"( ulCurrentInterrupt ) );

+

+		/* Is the interrupt number a user defined interrupt? */

+		if( ulCurrentInterrupt >= portFIRST_USER_INTERRUPT_NUMBER )

+		{

+			/* Look up the interrupt's priority. */

+			ucCurrentPriority = pcInterruptPriorityRegisters[ ulCurrentInterrupt ];

+

+			/* The following assertion will fail if a service routine (ISR) for 

+			an interrupt that has been assigned a priority above

+			configMAX_SYSCALL_INTERRUPT_PRIORITY calls an ISR safe FreeRTOS API

+			function.  ISR safe FreeRTOS API functions must *only* be called 

+			from interrupts that have been assigned a priority at or below

+			configMAX_SYSCALL_INTERRUPT_PRIORITY.

+			

+			Numerically low interrupt priority numbers represent logically high

+			interrupt priorities, therefore the priority of the interrupt must 

+			be set to a value equal to or numerically *higher* than 

+			configMAX_SYSCALL_INTERRUPT_PRIORITY.

+			

+			Interrupts that	use the FreeRTOS API must not be left at their

+			default priority of	zero as that is the highest possible priority,

+			which is guaranteed to be above configMAX_SYSCALL_INTERRUPT_PRIORITY, 

+			and	therefore also guaranteed to be invalid.  

+			

+			FreeRTOS maintains separate thread and ISR API functions to ensure 

+			interrupt entry is as fast and simple as possible.

+			

+			The following links provide detailed information:

+			http://www.freertos.org/RTOS-Cortex-M3-M4.html

+			http://www.freertos.org/FAQHelp.html */

+			configASSERT( ucCurrentPriority >= ucMaxSysCallPriority );

+		}

+

+		/* Priority grouping:  The interrupt controller (NVIC) allows the bits 

+		that define each interrupt's priority to be split between bits that 

+		define the interrupt's pre-emption priority bits and bits that define

+		the interrupt's sub-priority.  For simplicity all bits must be defined 

+		to be pre-emption priority bits.  The following assertion will fail if

+		this is not the case (if some bits represent a sub-priority).  

+		

+		If CMSIS libraries are being used then the correct setting can be 

+		achieved by calling	NVIC_SetPriorityGrouping( 0 ); before starting the 

+		scheduler. */

+		configASSERT( ( portAIRCR_REG & portPRIORITY_GROUP_MASK ) == 0 );

+	}

+

+#endif /* configASSERT_DEFINED */

+

+

+

+

+

+

+

+

+

+

+

+

+

+

+

+

+

+

+

+

+

diff --git a/FreeRTOS/Source/portable/GCC/ARM_CM3/portmacro.h b/FreeRTOS/Source/portable/GCC/ARM_CM3/portmacro.h
index 7335aa264..def764e1c 100644
--- a/FreeRTOS/Source/portable/GCC/ARM_CM3/portmacro.h
+++ b/FreeRTOS/Source/portable/GCC/ARM_CM3/portmacro.h
@@ -180,6 +180,13 @@ not necessary for to use this port.  They are defined so the common demo files
 

 /*-----------------------------------------------------------*/

 

+#ifdef configASSERT

+	void vPortValidateInterruptPriority( void );

+	#define portASSERT_IF_INTERRUPT_PRIORITY_INVALID() 	vPortValidateInterruptPriority()

+#else

+	#define portASSERT_IF_INTERRUPT_PRIORITY_INVALID()

+#endif

+

 /* portNOP() is not required by this port. */

 #define portNOP()

 

diff --git a/FreeRTOS/Source/portable/GCC/ARM_CM4F/port.c b/FreeRTOS/Source/portable/GCC/ARM_CM4F/port.c
index f3826b1df..7cb06899b 100644
--- a/FreeRTOS/Source/portable/GCC/ARM_CM4F/port.c
+++ b/FreeRTOS/Source/portable/GCC/ARM_CM4F/port.c
@@ -104,6 +104,12 @@
 #define portNVIC_PENDSV_PRI					( ( ( unsigned long ) configKERNEL_INTERRUPT_PRIORITY ) << 16UL )

 #define portNVIC_SYSTICK_PRI				( ( ( unsigned long ) configKERNEL_INTERRUPT_PRIORITY ) << 24UL )

 

+/* Constants required to check the validity of an interrupt prority. */

+#define portFIRST_USER_INTERRUPT_NUMBER		( 16 )

+#define portNVIC_IP_REGISTERS_OFFSET_16 	( 0xE000E3F0 )

+#define portAIRCR_REG						( * ( ( volatile unsigned long * ) 0xE000ED0C ) )

+#define portPRIORITY_GROUP_MASK				( 0x07UL << 8UL )

+

 /* Constants required to manipulate the VFP. */

 #define portFPCCR					( ( volatile unsigned long * ) 0xe000ef34 ) /* Floating point context control register. */

 #define portASPEN_AND_LSPEN_BITS	( 0x3UL << 30UL )

@@ -173,6 +179,16 @@ static void prvPortStartFirstTask( void ) __attribute__ (( naked ));
 	static unsigned long ulStoppedTimerCompensation = 0;

 #endif /* configUSE_TICKLESS_IDLE */

 

+/*

+ * Used by the portASSERT_IF_INTERRUPT_PRIORITY_INVALID() macro to ensure 

+ * FreeRTOS API functions are not called from interrupts that have been assigned

+ * a priority above configMAX_SYSCALL_INTERRUPT_PRIORITY.

+ */

+#if ( configASSERT_DEFINED == 1 )

+	 static unsigned char ucMaxSysCallPriority = 0;

+	 static const volatile unsigned char * const pcInterruptPriorityRegisters = ( const volatile unsigned char * const ) portNVIC_IP_REGISTERS_OFFSET_16;

+#endif /* configASSERT_DEFINED */

+

 /*-----------------------------------------------------------*/

 

 /*

@@ -249,6 +265,33 @@ portBASE_TYPE xPortStartScheduler( void )
 	See http://www.FreeRTOS.org/RTOS-Cortex-M3-M4.html */

 	configASSERT( configMAX_SYSCALL_INTERRUPT_PRIORITY );

 

+	#if( configASSERT_DEFINED == 1 )

+	{

+		volatile unsigned long ulOriginalPriority;

+		volatile char * const pcFirstUserPriorityRegister = ( volatile char * const ) ( portNVIC_IP_REGISTERS_OFFSET_16 + portFIRST_USER_INTERRUPT_NUMBER );

+

+		/* Determine the maximum priority from which ISR safe FreeRTOS API

+		functions can be called.  ISR safe functions are those that end in

+		"FromISR".  FreeRTOS maintains separate thread and ISR API functions to

+		ensure interrupt entry is as fast and simple as possible.

+

+		Save the interrupt priority value that is about to be clobbered. */

+		ulOriginalPriority = *pcFirstUserPriorityRegister;

+

+		/* Write the configMAX_SYSCALL_INTERRUPT_PRIORITY value to an interrupt

+		priority register. */

+		*pcFirstUserPriorityRegister = configMAX_SYSCALL_INTERRUPT_PRIORITY;

+

+		/* Read back the written priority to obtain its value as seen by the

+		hardware, which will only implement a subset of the priority bits. */

+		ucMaxSysCallPriority = *pcFirstUserPriorityRegister;

+

+		/* Restore the clobbered interrupt priority register to its original

+		value. */

+		*pcFirstUserPriorityRegister = ulOriginalPriority;

+	}

+	#endif /* conifgASSERT_DEFINED */

+

 	/* Make PendSV and SysTick the lowest priority interrupts. */

 	portNVIC_SYSPRI2_REG |= portNVIC_PENDSV_PRI;

 	portNVIC_SYSPRI2_REG |= portNVIC_SYSTICK_PRI;

@@ -572,4 +615,63 @@ static void vPortEnableVFP( void )
 		"	bx r14						"

 	);

 }

+/*-----------------------------------------------------------*/

+

+#if( configASSERT_DEFINED == 1 )

+

+	void vPortValidateInterruptPriority( void )

+	{

+	unsigned long ulCurrentInterrupt;

+	unsigned char ucCurrentPriority;

+

+		/* Obtain the number of the currently executing interrupt. */

+		__asm volatile( "mrs %0, ipsr" : "=r"( ulCurrentInterrupt ) );

+

+		/* Is the interrupt number a user defined interrupt? */

+		if( ulCurrentInterrupt >= portFIRST_USER_INTERRUPT_NUMBER )

+		{

+			/* Look up the interrupt's priority. */

+			ucCurrentPriority = pcInterruptPriorityRegisters[ ulCurrentInterrupt ];

+

+			/* The following assertion will fail if a service routine (ISR) for 

+			an interrupt that has been assigned a priority above

+			configMAX_SYSCALL_INTERRUPT_PRIORITY calls an ISR safe FreeRTOS API

+			function.  ISR safe FreeRTOS API functions must *only* be called 

+			from interrupts that have been assigned a priority at or below

+			configMAX_SYSCALL_INTERRUPT_PRIORITY.

+			

+			Numerically low interrupt priority numbers represent logically high

+			interrupt priorities, therefore the priority of the interrupt must 

+			be set to a value equal to or numerically *higher* than 

+			configMAX_SYSCALL_INTERRUPT_PRIORITY.

+			

+			Interrupts that	use the FreeRTOS API must not be left at their

+			default priority of	zero as that is the highest possible priority,

+			which is guaranteed to be above configMAX_SYSCALL_INTERRUPT_PRIORITY, 

+			and	therefore also guaranteed to be invalid.  

+			

+			FreeRTOS maintains separate thread and ISR API functions to ensure 

+			interrupt entry is as fast and simple as possible.

+			

+			The following links provide detailed information:

+			http://www.freertos.org/RTOS-Cortex-M3-M4.html

+			http://www.freertos.org/FAQHelp.html */

+			configASSERT( ucCurrentPriority >= ucMaxSysCallPriority );

+		}

+

+		/* Priority grouping:  The interrupt controller (NVIC) allows the bits 

+		that define each interrupt's priority to be split between bits that 

+		define the interrupt's pre-emption priority bits and bits that define

+		the interrupt's sub-priority.  For simplicity all bits must be defined 

+		to be pre-emption priority bits.  The following assertion will fail if

+		this is not the case (if some bits represent a sub-priority).  

+		

+		If CMSIS libraries are being used then the correct setting can be 

+		achieved by calling	NVIC_SetPriorityGrouping( 0 ); before starting the 

+		scheduler. */

+		configASSERT( ( portAIRCR_REG & portPRIORITY_GROUP_MASK ) == 0 );

+	}

+

+#endif /* configASSERT_DEFINED */

+

 

diff --git a/FreeRTOS/Source/portable/GCC/ARM_CM4F/portmacro.h b/FreeRTOS/Source/portable/GCC/ARM_CM4F/portmacro.h
index 7d58e7b82..a006e4517 100644
--- a/FreeRTOS/Source/portable/GCC/ARM_CM4F/portmacro.h
+++ b/FreeRTOS/Source/portable/GCC/ARM_CM4F/portmacro.h
@@ -181,6 +181,13 @@ not necessary for to use this port.  They are defined so the common demo files
 

 /*-----------------------------------------------------------*/

 

+#ifdef configASSERT

+	void vPortValidateInterruptPriority( void );

+	#define portASSERT_IF_INTERRUPT_PRIORITY_INVALID() 	vPortValidateInterruptPriority()

+#else

+	#define portASSERT_IF_INTERRUPT_PRIORITY_INVALID()

+#endif

+

 /* portNOP() is not required by this port. */

 #define portNOP()

 

diff --git a/FreeRTOS/Source/portable/IAR/ARM_CM3/port.c b/FreeRTOS/Source/portable/IAR/ARM_CM3/port.c
index db8c1f117..c8fbfde42 100644
--- a/FreeRTOS/Source/portable/IAR/ARM_CM3/port.c
+++ b/FreeRTOS/Source/portable/IAR/ARM_CM3/port.c
@@ -107,6 +107,12 @@
 #define portNVIC_PENDSV_PRI					( ( ( unsigned long ) configKERNEL_INTERRUPT_PRIORITY ) << 16UL )

 #define portNVIC_SYSTICK_PRI				( ( ( unsigned long ) configKERNEL_INTERRUPT_PRIORITY ) << 24UL )

 

+/* Constants required to check the validity of an interrupt prority. */

+#define portFIRST_USER_INTERRUPT_NUMBER		( 16 )

+#define portNVIC_IP_REGISTERS_OFFSET_16 	( 0xE000E3F0 )

+#define portAIRCR_REG						( * ( ( volatile unsigned long * ) 0xE000ED0C ) )

+#define portPRIORITY_GROUP_MASK				( 0x07UL << 8UL )

+

 /* Constants required to set up the initial stack. */

 #define portINITIAL_XPSR					( 0x01000000 )

 

@@ -171,6 +177,16 @@ extern void vPortStartFirstTask( void );
 	static unsigned long ulStoppedTimerCompensation = 0;

 #endif /* configUSE_TICKLESS_IDLE */

 

+/*

+ * Used by the portASSERT_IF_INTERRUPT_PRIORITY_INVALID() macro to ensure 

+ * FreeRTOS API functions are not called from interrupts that have been assigned

+ * a priority above configMAX_SYSCALL_INTERRUPT_PRIORITY.

+ */

+#if ( configASSERT_DEFINED == 1 )

+	 static unsigned char ucMaxSysCallPriority = 0;

+	 static const volatile unsigned char * const pcInterruptPriorityRegisters = ( const volatile unsigned char * const ) portNVIC_IP_REGISTERS_OFFSET_16;

+#endif /* configASSERT_DEFINED */

+

 /*-----------------------------------------------------------*/

 

 /*

@@ -199,6 +215,33 @@ portSTACK_TYPE *pxPortInitialiseStack( portSTACK_TYPE *pxTopOfStack, pdTASK_CODE
  */

 portBASE_TYPE xPortStartScheduler( void )

 {

+	#if( configASSERT_DEFINED == 1 )

+	{

+		volatile unsigned long ulOriginalPriority;

+		volatile char * const pcFirstUserPriorityRegister = ( volatile char * const ) ( portNVIC_IP_REGISTERS_OFFSET_16 + portFIRST_USER_INTERRUPT_NUMBER );

+

+		/* Determine the maximum priority from which ISR safe FreeRTOS API

+		functions can be called.  ISR safe functions are those that end in

+		"FromISR".  FreeRTOS maintains separate thread and ISR API functions to

+		ensure interrupt entry is as fast and simple as possible.

+

+		Save the interrupt priority value that is about to be clobbered. */

+		ulOriginalPriority = *pcFirstUserPriorityRegister;

+

+		/* Write the configMAX_SYSCALL_INTERRUPT_PRIORITY value to an interrupt

+		priority register. */

+		*pcFirstUserPriorityRegister = configMAX_SYSCALL_INTERRUPT_PRIORITY;

+

+		/* Read back the written priority to obtain its value as seen by the

+		hardware, which will only implement a subset of the priority bits. */

+		ucMaxSysCallPriority = *pcFirstUserPriorityRegister;

+

+		/* Restore the clobbered interrupt priority register to its original

+		value. */

+		*pcFirstUserPriorityRegister = ulOriginalPriority;

+	}

+	#endif /* conifgASSERT_DEFINED */

+

 	/* Make PendSV and SysTick the lowest priority interrupts. */

 	portNVIC_SYSPRI2_REG |= portNVIC_PENDSV_PRI;

 	portNVIC_SYSPRI2_REG |= portNVIC_SYSTICK_PRI;

@@ -426,3 +469,80 @@ __weak void vPortSetupTimerInterrupt( void )
 }

 /*-----------------------------------------------------------*/

 

+#if( configASSERT_DEFINED == 1 )

+

+	void vPortValidateInterruptPriority( void )

+	{

+	unsigned long ulCurrentInterrupt;

+	unsigned char ucCurrentPriority;

+

+		/* Obtain the number of the currently executing interrupt. */

+		__asm volatile( "mrs %0, ipsr" : "=r"( ulCurrentInterrupt ) );

+

+		/* Is the interrupt number a user defined interrupt? */

+		if( ulCurrentInterrupt >= portFIRST_USER_INTERRUPT_NUMBER )

+		{

+			/* Look up the interrupt's priority. */

+			ucCurrentPriority = pcInterruptPriorityRegisters[ ulCurrentInterrupt ];

+

+			/* The following assertion will fail if a service routine (ISR) for 

+			an interrupt that has been assigned a priority above

+			configMAX_SYSCALL_INTERRUPT_PRIORITY calls an ISR safe FreeRTOS API

+			function.  ISR safe FreeRTOS API functions must *only* be called 

+			from interrupts that have been assigned a priority at or below

+			configMAX_SYSCALL_INTERRUPT_PRIORITY.

+			

+			Numerically low interrupt priority numbers represent logically high

+			interrupt priorities, therefore the priority of the interrupt must 

+			be set to a value equal to or numerically *higher* than 

+			configMAX_SYSCALL_INTERRUPT_PRIORITY.

+			

+			Interrupts that	use the FreeRTOS API must not be left at their

+			default priority of	zero as that is the highest possible priority,

+			which is guaranteed to be above configMAX_SYSCALL_INTERRUPT_PRIORITY, 

+			and	therefore also guaranteed to be invalid.  

+			

+			FreeRTOS maintains separate thread and ISR API functions to ensure 

+			interrupt entry is as fast and simple as possible.

+			

+			The following links provide detailed information:

+			http://www.freertos.org/RTOS-Cortex-M3-M4.html

+			http://www.freertos.org/FAQHelp.html */

+			configASSERT( ucCurrentPriority >= ucMaxSysCallPriority );

+		}

+

+		/* Priority grouping:  The interrupt controller (NVIC) allows the bits 

+		that define each interrupt's priority to be split between bits that 

+		define the interrupt's pre-emption priority bits and bits that define

+		the interrupt's sub-priority.  For simplicity all bits must be defined 

+		to be pre-emption priority bits.  The following assertion will fail if

+		this is not the case (if some bits represent a sub-priority).  

+		

+		If CMSIS libraries are being used then the correct setting can be 

+		achieved by calling	NVIC_SetPriorityGrouping( 0 ); before starting the 

+		scheduler. */

+		configASSERT( ( portAIRCR_REG & portPRIORITY_GROUP_MASK ) == 0 );

+	}

+

+#endif /* configASSERT_DEFINED */

+

+

+

+

+

+

+

+

+

+

+

+

+

+

+

+

+

+

+

+

+

diff --git a/FreeRTOS/Source/portable/IAR/ARM_CM3/portmacro.h b/FreeRTOS/Source/portable/IAR/ARM_CM3/portmacro.h
index ad3632060..396bddacb 100644
--- a/FreeRTOS/Source/portable/IAR/ARM_CM3/portmacro.h
+++ b/FreeRTOS/Source/portable/IAR/ARM_CM3/portmacro.h
@@ -171,6 +171,13 @@ not necessary for to use this port.  They are defined so the common demo files
 #define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void *pvParameters )

 /*-----------------------------------------------------------*/

 

+#ifdef configASSERT

+	void vPortValidateInterruptPriority( void );

+	#define portASSERT_IF_INTERRUPT_PRIORITY_INVALID() 	vPortValidateInterruptPriority()

+#else

+	#define portASSERT_IF_INTERRUPT_PRIORITY_INVALID()

+#endif

+

 /* portNOP() is not required by this port. */

 #define portNOP()

 

diff --git a/FreeRTOS/Source/portable/IAR/ARM_CM4F/port.c b/FreeRTOS/Source/portable/IAR/ARM_CM4F/port.c
index 543cba3cc..e5a365855 100644
--- a/FreeRTOS/Source/portable/IAR/ARM_CM4F/port.c
+++ b/FreeRTOS/Source/portable/IAR/ARM_CM4F/port.c
@@ -111,6 +111,12 @@
 #define portNVIC_PENDSV_PRI					( ( ( unsigned long ) configKERNEL_INTERRUPT_PRIORITY ) << 16UL )

 #define portNVIC_SYSTICK_PRI				( ( ( unsigned long ) configKERNEL_INTERRUPT_PRIORITY ) << 24UL )

 

+/* Constants required to check the validity of an interrupt prority. */

+#define portFIRST_USER_INTERRUPT_NUMBER		( 16 )

+#define portNVIC_IP_REGISTERS_OFFSET_16 	( 0xE000E3F0 )

+#define portAIRCR_REG						( * ( ( volatile unsigned long * ) 0xE000ED0C ) )

+#define portPRIORITY_GROUP_MASK				( 0x07UL << 8UL )

+

 /* Constants required to manipulate the VFP. */

 #define portFPCCR							( ( volatile unsigned long * ) 0xe000ef34 ) /* Floating point context control register. */

 #define portASPEN_AND_LSPEN_BITS			( 0x3UL << 30UL )

@@ -179,6 +185,16 @@ extern void vPortEnableVFP( void );
 	static unsigned long ulStoppedTimerCompensation = 0;

 #endif /* configUSE_TICKLESS_IDLE */

 

+/*

+ * Used by the portASSERT_IF_INTERRUPT_PRIORITY_INVALID() macro to ensure 

+ * FreeRTOS API functions are not called from interrupts that have been assigned

+ * a priority above configMAX_SYSCALL_INTERRUPT_PRIORITY.

+ */

+#if ( configASSERT_DEFINED == 1 )

+	 static unsigned char ucMaxSysCallPriority = 0;

+	 static const volatile unsigned char * const pcInterruptPriorityRegisters = ( const volatile unsigned char * const ) portNVIC_IP_REGISTERS_OFFSET_16;

+#endif /* configASSERT_DEFINED */

+

 /*-----------------------------------------------------------*/

 

 /*

@@ -219,6 +235,33 @@ portSTACK_TYPE *pxPortInitialiseStack( portSTACK_TYPE *pxTopOfStack, pdTASK_CODE
  */

 portBASE_TYPE xPortStartScheduler( void )

 {

+	#if( configASSERT_DEFINED == 1 )

+	{

+		volatile unsigned long ulOriginalPriority;

+		volatile char * const pcFirstUserPriorityRegister = ( volatile char * const ) ( portNVIC_IP_REGISTERS_OFFSET_16 + portFIRST_USER_INTERRUPT_NUMBER );

+

+		/* Determine the maximum priority from which ISR safe FreeRTOS API

+		functions can be called.  ISR safe functions are those that end in

+		"FromISR".  FreeRTOS maintains separate thread and ISR API functions to

+		ensure interrupt entry is as fast and simple as possible.

+

+		Save the interrupt priority value that is about to be clobbered. */

+		ulOriginalPriority = *pcFirstUserPriorityRegister;

+

+		/* Write the configMAX_SYSCALL_INTERRUPT_PRIORITY value to an interrupt

+		priority register. */

+		*pcFirstUserPriorityRegister = configMAX_SYSCALL_INTERRUPT_PRIORITY;

+

+		/* Read back the written priority to obtain its value as seen by the

+		hardware, which will only implement a subset of the priority bits. */

+		ucMaxSysCallPriority = *pcFirstUserPriorityRegister;

+

+		/* Restore the clobbered interrupt priority register to its original

+		value. */

+		*pcFirstUserPriorityRegister = ulOriginalPriority;

+	}

+	#endif /* conifgASSERT_DEFINED */

+

 	/* Make PendSV and SysTick the lowest priority interrupts. */

 	portNVIC_SYSPRI2_REG |= portNVIC_PENDSV_PRI;

 	portNVIC_SYSPRI2_REG |= portNVIC_SYSTICK_PRI;

@@ -452,3 +495,80 @@ __weak void vPortSetupTimerInterrupt( void )
 }

 /*-----------------------------------------------------------*/

 

+#if( configASSERT_DEFINED == 1 )

+

+	void vPortValidateInterruptPriority( void )

+	{

+	unsigned long ulCurrentInterrupt;

+	unsigned char ucCurrentPriority;

+

+		/* Obtain the number of the currently executing interrupt. */

+		__asm volatile( "mrs %0, ipsr" : "=r"( ulCurrentInterrupt ) );

+

+		/* Is the interrupt number a user defined interrupt? */

+		if( ulCurrentInterrupt >= portFIRST_USER_INTERRUPT_NUMBER )

+		{

+			/* Look up the interrupt's priority. */

+			ucCurrentPriority = pcInterruptPriorityRegisters[ ulCurrentInterrupt ];

+

+			/* The following assertion will fail if a service routine (ISR) for 

+			an interrupt that has been assigned a priority above

+			configMAX_SYSCALL_INTERRUPT_PRIORITY calls an ISR safe FreeRTOS API

+			function.  ISR safe FreeRTOS API functions must *only* be called 

+			from interrupts that have been assigned a priority at or below

+			configMAX_SYSCALL_INTERRUPT_PRIORITY.

+			

+			Numerically low interrupt priority numbers represent logically high

+			interrupt priorities, therefore the priority of the interrupt must 

+			be set to a value equal to or numerically *higher* than 

+			configMAX_SYSCALL_INTERRUPT_PRIORITY.

+			

+			Interrupts that	use the FreeRTOS API must not be left at their

+			default priority of	zero as that is the highest possible priority,

+			which is guaranteed to be above configMAX_SYSCALL_INTERRUPT_PRIORITY, 

+			and	therefore also guaranteed to be invalid.  

+			

+			FreeRTOS maintains separate thread and ISR API functions to ensure 

+			interrupt entry is as fast and simple as possible.

+			

+			The following links provide detailed information:

+			http://www.freertos.org/RTOS-Cortex-M3-M4.html

+			http://www.freertos.org/FAQHelp.html */

+			configASSERT( ucCurrentPriority >= ucMaxSysCallPriority );

+		}

+

+		/* Priority grouping:  The interrupt controller (NVIC) allows the bits 

+		that define each interrupt's priority to be split between bits that 

+		define the interrupt's pre-emption priority bits and bits that define

+		the interrupt's sub-priority.  For simplicity all bits must be defined 

+		to be pre-emption priority bits.  The following assertion will fail if

+		this is not the case (if some bits represent a sub-priority).  

+		

+		If CMSIS libraries are being used then the correct setting can be 

+		achieved by calling	NVIC_SetPriorityGrouping( 0 ); before starting the 

+		scheduler. */

+		configASSERT( ( portAIRCR_REG & portPRIORITY_GROUP_MASK ) == 0 );

+	}

+

+#endif /* configASSERT_DEFINED */

+

+

+

+

+

+

+

+

+

+

+

+

+

+

+

+

+

+

+

+

+

diff --git a/FreeRTOS/Source/portable/IAR/ARM_CM4F/portmacro.h b/FreeRTOS/Source/portable/IAR/ARM_CM4F/portmacro.h
index 8ef0e0724..3d3be493f 100644
--- a/FreeRTOS/Source/portable/IAR/ARM_CM4F/portmacro.h
+++ b/FreeRTOS/Source/portable/IAR/ARM_CM4F/portmacro.h
@@ -172,6 +172,13 @@ not necessary for to use this port.  They are defined so the common demo files
 #define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void *pvParameters )

 /*-----------------------------------------------------------*/

 

+#ifdef configASSERT

+	void vPortValidateInterruptPriority( void );

+	#define portASSERT_IF_INTERRUPT_PRIORITY_INVALID() 	vPortValidateInterruptPriority()

+#else

+	#define portASSERT_IF_INTERRUPT_PRIORITY_INVALID()

+#endif

+

 /* portNOP() is not required by this port. */

 #define portNOP()

 

diff --git a/FreeRTOS/Source/portable/RVDS/ARM_CM3/port.c b/FreeRTOS/Source/portable/RVDS/ARM_CM3/port.c
index 9254d6271..8311f94c7 100644
--- a/FreeRTOS/Source/portable/RVDS/ARM_CM3/port.c
+++ b/FreeRTOS/Source/portable/RVDS/ARM_CM3/port.c
@@ -117,6 +117,12 @@ is defined. */
 #define portNVIC_PENDSV_PRI					( ( ( unsigned long ) configKERNEL_INTERRUPT_PRIORITY ) << 16UL )

 #define portNVIC_SYSTICK_PRI				( ( ( unsigned long ) configKERNEL_INTERRUPT_PRIORITY ) << 24UL )

 

+/* Constants required to check the validity of an interrupt prority. */

+#define portFIRST_USER_INTERRUPT_NUMBER		( 16 )

+#define portNVIC_IP_REGISTERS_OFFSET_16 	( 0xE000E3F0 )

+#define portAIRCR_REG						( * ( ( volatile unsigned long * ) 0xE000ED0C ) )

+#define portPRIORITY_GROUP_MASK				( 0x07UL << 8UL )

+

 /* Constants required to set up the initial stack. */

 #define portINITIAL_XPSR			( 0x01000000 )

 

@@ -179,6 +185,16 @@ static void prvStartFirstTask( void );
 	static unsigned long ulStoppedTimerCompensation = 0;

 #endif /* configUSE_TICKLESS_IDLE */

 

+/*

+ * Used by the portASSERT_IF_INTERRUPT_PRIORITY_INVALID() macro to ensure 

+ * FreeRTOS API functions are not called from interrupts that have been assigned

+ * a priority above configMAX_SYSCALL_INTERRUPT_PRIORITY.

+ */

+#if ( configASSERT_DEFINED == 1 )

+	 static unsigned char ucMaxSysCallPriority = 0;

+	 static const volatile unsigned char * const pcInterruptPriorityRegisters = ( const volatile unsigned char * const ) portNVIC_IP_REGISTERS_OFFSET_16;

+#endif /* configASSERT_DEFINED */

+

 /*-----------------------------------------------------------*/

 

 /*

@@ -241,6 +257,33 @@ __asm void prvStartFirstTask( void )
  */

 portBASE_TYPE xPortStartScheduler( void )

 {

+	#if( configASSERT_DEFINED == 1 )

+	{

+		volatile unsigned long ulOriginalPriority;

+		volatile char * const pcFirstUserPriorityRegister = ( volatile char * const ) ( portNVIC_IP_REGISTERS_OFFSET_16 + portFIRST_USER_INTERRUPT_NUMBER );

+

+		/* Determine the maximum priority from which ISR safe FreeRTOS API

+		functions can be called.  ISR safe functions are those that end in

+		"FromISR".  FreeRTOS maintains separate thread and ISR API functions to

+		ensure interrupt entry is as fast and simple as possible.

+

+		Save the interrupt priority value that is about to be clobbered. */

+		ulOriginalPriority = *pcFirstUserPriorityRegister;

+

+		/* Write the configMAX_SYSCALL_INTERRUPT_PRIORITY value to an interrupt

+		priority register. */

+		*pcFirstUserPriorityRegister = configMAX_SYSCALL_INTERRUPT_PRIORITY;

+

+		/* Read back the written priority to obtain its value as seen by the

+		hardware, which will only implement a subset of the priority bits. */

+		ucMaxSysCallPriority = *pcFirstUserPriorityRegister;

+

+		/* Restore the clobbered interrupt priority register to its original

+		value. */

+		*pcFirstUserPriorityRegister = ulOriginalPriority;

+	}

+	#endif /* conifgASSERT_DEFINED */

+

 	/* Make PendSV and SysTick the lowest priority interrupts. */

 	portNVIC_SYSPRI2_REG |= portNVIC_PENDSV_PRI;

 	portNVIC_SYSPRI2_REG |= portNVIC_SYSTICK_PRI;

@@ -524,3 +567,72 @@ __asm void vPortClearInterruptMask( unsigned long ulNewMask )
 	msr basepri, r0

 	bx r14

 }

+/*-----------------------------------------------------------*/

+

+__asm unsigned long vPortGetIPSR( void )

+{

+	PRESERVE8

+	

+	mrs r0, ipsr

+	bx r14

+}

+/*-----------------------------------------------------------*/

+

+#if( configASSERT_DEFINED == 1 )

+

+	void vPortValidateInterruptPriority( void )

+	{

+	unsigned long ulCurrentInterrupt;

+	unsigned char ucCurrentPriority;

+

+		/* Obtain the number of the currently executing interrupt. */

+		ulCurrentInterrupt = vPortGetIPSR();

+

+		/* Is the interrupt number a user defined interrupt? */

+		if( ulCurrentInterrupt >= portFIRST_USER_INTERRUPT_NUMBER )

+		{

+			/* Look up the interrupt's priority. */

+			ucCurrentPriority = pcInterruptPriorityRegisters[ ulCurrentInterrupt ];

+

+			/* The following assertion will fail if a service routine (ISR) for 

+			an interrupt that has been assigned a priority above

+			configMAX_SYSCALL_INTERRUPT_PRIORITY calls an ISR safe FreeRTOS API

+			function.  ISR safe FreeRTOS API functions must *only* be called 

+			from interrupts that have been assigned a priority at or below

+			configMAX_SYSCALL_INTERRUPT_PRIORITY.

+			

+			Numerically low interrupt priority numbers represent logically high

+			interrupt priorities, therefore the priority of the interrupt must 

+			be set to a value equal to or numerically *higher* than 

+			configMAX_SYSCALL_INTERRUPT_PRIORITY.

+			

+			Interrupts that	use the FreeRTOS API must not be left at their

+			default priority of	zero as that is the highest possible priority,

+			which is guaranteed to be above configMAX_SYSCALL_INTERRUPT_PRIORITY, 

+			and	therefore also guaranteed to be invalid.  

+			

+			FreeRTOS maintains separate thread and ISR API functions to ensure 

+			interrupt entry is as fast and simple as possible.

+			

+			The following links provide detailed information:

+			http://www.freertos.org/RTOS-Cortex-M3-M4.html

+			http://www.freertos.org/FAQHelp.html */

+			configASSERT( ucCurrentPriority >= ucMaxSysCallPriority );

+		}

+

+		/* Priority grouping:  The interrupt controller (NVIC) allows the bits 

+		that define each interrupt's priority to be split between bits that 

+		define the interrupt's pre-emption priority bits and bits that define

+		the interrupt's sub-priority.  For simplicity all bits must be defined 

+		to be pre-emption priority bits.  The following assertion will fail if

+		this is not the case (if some bits represent a sub-priority).  

+		

+		If CMSIS libraries are being used then the correct setting can be 

+		achieved by calling	NVIC_SetPriorityGrouping( 0 ); before starting the 

+		scheduler. */

+		configASSERT( ( portAIRCR_REG & portPRIORITY_GROUP_MASK ) == 0 );

+	}

+

+#endif /* configASSERT_DEFINED */

+

+

diff --git a/FreeRTOS/Source/portable/RVDS/ARM_CM3/portmacro.h b/FreeRTOS/Source/portable/RVDS/ARM_CM3/portmacro.h
index 80a7b2f3f..8e3522657 100644
--- a/FreeRTOS/Source/portable/RVDS/ARM_CM3/portmacro.h
+++ b/FreeRTOS/Source/portable/RVDS/ARM_CM3/portmacro.h
@@ -170,6 +170,13 @@ not necessary for to use this port.  They are defined so the common demo files
 #define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void *pvParameters )

 /*-----------------------------------------------------------*/

 

+#ifdef configASSERT

+	void vPortValidateInterruptPriority( void );

+	#define portASSERT_IF_INTERRUPT_PRIORITY_INVALID() 	vPortValidateInterruptPriority()

+#else

+	#define portASSERT_IF_INTERRUPT_PRIORITY_INVALID()

+#endif

+

 /* portNOP() is not required by this port. */

 #define portNOP()

 

diff --git a/FreeRTOS/Source/portable/RVDS/ARM_CM4F/port.c b/FreeRTOS/Source/portable/RVDS/ARM_CM4F/port.c
index 616a8330b..1877f9a16 100644
--- a/FreeRTOS/Source/portable/RVDS/ARM_CM4F/port.c
+++ b/FreeRTOS/Source/portable/RVDS/ARM_CM4F/port.c
@@ -117,6 +117,12 @@ is defined. */
 #define portNVIC_PENDSV_PRI					( ( ( unsigned long ) configKERNEL_INTERRUPT_PRIORITY ) << 16UL )

 #define portNVIC_SYSTICK_PRI				( ( ( unsigned long ) configKERNEL_INTERRUPT_PRIORITY ) << 24UL )

 

+/* Constants required to check the validity of an interrupt prority. */

+#define portFIRST_USER_INTERRUPT_NUMBER		( 16 )

+#define portNVIC_IP_REGISTERS_OFFSET_16 	( 0xE000E3F0 )

+#define portAIRCR_REG						( * ( ( volatile unsigned long * ) 0xE000ED0C ) )

+#define portPRIORITY_GROUP_MASK				( 0x07UL << 8UL )

+

 /* Constants required to manipulate the VFP. */

 #define portFPCCR					( ( volatile unsigned long * ) 0xe000ef34 ) /* Floating point context control register. */

 #define portASPEN_AND_LSPEN_BITS	( 0x3UL << 30UL )

@@ -188,6 +194,16 @@ static void prvEnableVFP( void );
 	static unsigned long ulStoppedTimerCompensation = 0;

 #endif /* configUSE_TICKLESS_IDLE */

 

+/*

+ * Used by the portASSERT_IF_INTERRUPT_PRIORITY_INVALID() macro to ensure 

+ * FreeRTOS API functions are not called from interrupts that have been assigned

+ * a priority above configMAX_SYSCALL_INTERRUPT_PRIORITY.

+ */

+#if ( configASSERT_DEFINED == 1 )

+	 static unsigned char ucMaxSysCallPriority = 0;

+	 static const volatile unsigned char * const pcInterruptPriorityRegisters = ( unsigned char * ) portNVIC_IP_REGISTERS_OFFSET_16;

+#endif /* configASSERT_DEFINED */

+

 /*-----------------------------------------------------------*/

 

 /*

@@ -279,6 +295,33 @@ __asm void prvEnableVFP( void )
  */

 portBASE_TYPE xPortStartScheduler( void )

 {

+	#if( configASSERT_DEFINED == 1 )

+	{

+		volatile unsigned long ulOriginalPriority;

+		volatile char * const pcFirstUserPriorityRegister = ( char * ) ( portNVIC_IP_REGISTERS_OFFSET_16 + portFIRST_USER_INTERRUPT_NUMBER );

+

+		/* Determine the maximum priority from which ISR safe FreeRTOS API

+		functions can be called.  ISR safe functions are those that end in

+		"FromISR".  FreeRTOS maintains separate thread and ISR API functions to

+		ensure interrupt entry is as fast and simple as possible.

+

+		Save the interrupt priority value that is about to be clobbered. */

+		ulOriginalPriority = *pcFirstUserPriorityRegister;

+

+		/* Write the configMAX_SYSCALL_INTERRUPT_PRIORITY value to an interrupt

+		priority register. */

+		*pcFirstUserPriorityRegister = configMAX_SYSCALL_INTERRUPT_PRIORITY;

+

+		/* Read back the written priority to obtain its value as seen by the

+		hardware, which will only implement a subset of the priority bits. */

+		ucMaxSysCallPriority = *pcFirstUserPriorityRegister;

+

+		/* Restore the clobbered interrupt priority register to its original

+		value. */

+		*pcFirstUserPriorityRegister = ulOriginalPriority;

+	}

+	#endif /* conifgASSERT_DEFINED */

+

 	/* Make PendSV and SysTick the lowest priority interrupts. */

 	portNVIC_SYSPRI2_REG |= portNVIC_PENDSV_PRI;

 	portNVIC_SYSPRI2_REG |= portNVIC_SYSTICK_PRI;

@@ -587,3 +630,72 @@ __asm void vPortClearInterruptMask( unsigned long ulNewMask )
 	msr basepri, r0

 	bx r14

 }

+/*-----------------------------------------------------------*/

+

+__asm unsigned long vPortGetIPSR( void )

+{

+	PRESERVE8

+	

+	mrs r0, ipsr

+	bx r14

+}

+/*-----------------------------------------------------------*/

+

+#if( configASSERT_DEFINED == 1 )

+

+	void vPortValidateInterruptPriority( void )

+	{

+	unsigned long ulCurrentInterrupt;

+	unsigned char ucCurrentPriority;

+

+		/* Obtain the number of the currently executing interrupt. */

+		ulCurrentInterrupt = vPortGetIPSR();

+

+		/* Is the interrupt number a user defined interrupt? */

+		if( ulCurrentInterrupt >= portFIRST_USER_INTERRUPT_NUMBER )

+		{

+			/* Look up the interrupt's priority. */

+			ucCurrentPriority = pcInterruptPriorityRegisters[ ulCurrentInterrupt ];

+

+			/* The following assertion will fail if a service routine (ISR) for 

+			an interrupt that has been assigned a priority above

+			configMAX_SYSCALL_INTERRUPT_PRIORITY calls an ISR safe FreeRTOS API

+			function.  ISR safe FreeRTOS API functions must *only* be called 

+			from interrupts that have been assigned a priority at or below

+			configMAX_SYSCALL_INTERRUPT_PRIORITY.

+			

+			Numerically low interrupt priority numbers represent logically high

+			interrupt priorities, therefore the priority of the interrupt must 

+			be set to a value equal to or numerically *higher* than 

+			configMAX_SYSCALL_INTERRUPT_PRIORITY.

+			

+			Interrupts that	use the FreeRTOS API must not be left at their

+			default priority of	zero as that is the highest possible priority,

+			which is guaranteed to be above configMAX_SYSCALL_INTERRUPT_PRIORITY, 

+			and	therefore also guaranteed to be invalid.  

+			

+			FreeRTOS maintains separate thread and ISR API functions to ensure 

+			interrupt entry is as fast and simple as possible.

+			

+			The following links provide detailed information:

+			http://www.freertos.org/RTOS-Cortex-M3-M4.html

+			http://www.freertos.org/FAQHelp.html */

+			configASSERT( ucCurrentPriority >= ucMaxSysCallPriority );

+		}

+

+		/* Priority grouping:  The interrupt controller (NVIC) allows the bits 

+		that define each interrupt's priority to be split between bits that 

+		define the interrupt's pre-emption priority bits and bits that define

+		the interrupt's sub-priority.  For simplicity all bits must be defined 

+		to be pre-emption priority bits.  The following assertion will fail if

+		this is not the case (if some bits represent a sub-priority).  

+		

+		If CMSIS libraries are being used then the correct setting can be 

+		achieved by calling	NVIC_SetPriorityGrouping( 0 ); before starting the 

+		scheduler. */

+		configASSERT( ( portAIRCR_REG & portPRIORITY_GROUP_MASK ) == 0 );

+	}

+	

+#endif /* configASSERT_DEFINED */

+

+

diff --git a/FreeRTOS/Source/portable/RVDS/ARM_CM4F/portmacro.h b/FreeRTOS/Source/portable/RVDS/ARM_CM4F/portmacro.h
index ef8fa6252..d2ab5a527 100644
--- a/FreeRTOS/Source/portable/RVDS/ARM_CM4F/portmacro.h
+++ b/FreeRTOS/Source/portable/RVDS/ARM_CM4F/portmacro.h
@@ -171,6 +171,13 @@ not necessary for to use this port.  They are defined so the common demo files
 #define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void *pvParameters )

 /*-----------------------------------------------------------*/

 

+#ifdef configASSERT

+	void vPortValidateInterruptPriority( void );

+	#define portASSERT_IF_INTERRUPT_PRIORITY_INVALID() 	vPortValidateInterruptPriority()

+#else

+	#define portASSERT_IF_INTERRUPT_PRIORITY_INVALID()

+#endif

+

 /* portNOP() is not required by this port. */

 #define portNOP()